SHOKI Mobile Robot Platform

Your first open hardware ROS2 enabled human size mobile robot platform. Affordable, easy to customize, 3D-printable robot!

Omri Ben-bassat

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Hackaday Prize 2019

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Description

SHOKI aims to be your personal robot pal cruising around your home, waiting to assist you with anything you need!

Key Features:
* ROS 2 Crystal Clemmys full support.
* Powerful differential drive.
* LIDAR sensor for mapping and navigation.
* Power torso - extend up to 120cm in height.
* 3-DOF head equipped with LCD monitor and RGB-D camera.
* NVIDIA Jetson on-board computer.
* Directional microphone array, 6-axis IMU and drop sensors.
* Docking station and "auto home" mode on low power.
* Fully 3d-printable on a standard Creality Ender 3(220*220*250mm build surface)

SHOKI can be integrated with a variety of other products, for examples:
* Mobile Manipulator - integrate with an existing robot arm(Dexter, BCN3D MOVEO, Thor...).
* Personal Assistance - integrate with Alexa or Google Assistant.

Details

BACKGROUND: This project is actually the incarnation of old home robot called SHOKI(R.I.P). Old SHOKI was made using laser-cutted MDF plates and equipped with powerful diff-drive drive train using VEXPro parts, on-board RPi running ROS Kinetic nodes which published the output of multiple sensors that you can see in the such as RPILIDAR a1 laser sensor, 6-DOF IMU, Orbbec Astra 3d camera. sadly old SHOKI rotten last winter(MDF might not have been the best choice... haha) so I decided to break it apart, save the sensors / electronics / mechanical parts and rebuild it, this time in pure 3d-printable PLA / ABS! In the picture bellow: screenshot taken from RViz of old SHOKI mapping my apartment.

Project Logs

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Moving forward! some quick updates regrading the driving sub system...
Omri Ben-bassat • 05/29/2019 at 14:57 • 0 comments

1. Gearbox - started designing and testing the gearbox for SHOKI. It is based on VEXPro Mini CIM motors, gears, bearings and shafts (taken from old SHOKI) with total of 1:11 gear reduction. With this setup the robot should be able to drive at approx 1 m/s. In the following picture you can see one of my recent prototype prints:
2. Wheel Encoder - got these cheap 600p/r 2 phase incremental rotary encoders and shaft couplers from AliExpress. Worked perfect for me when tested with Arduino Mega:
Encoders:
https://www.aliexpress.com/item/32849332003.html
Source code:
https://gist.github.com/betab0t/9f6b0bdc33e0a5c5054077cb5c702aa4